Devices, systems and methods for filling a syringe with a medication

ABSTRACT

Devices, systems and methods for automatically positioning a syringe in a target orientation suitable for withdrawing medication from a container, and for filling the syringe with the medication. The device comprises a syringe conveyor, which is configured to receive the syringe in an initial orientation, and to bring the syringe to a target orientation by being translated and rotated while holding the syringe in a steady orientation relative to the syringe conveyor. The device further comprises a supporting module, configured to support the syringe conveyor while allowing a translation and a rotation thereof. The device comprises a syringe holder configured to hold the syringe, and a gripper coupled to the syringe holder. The gripper is configured to engage the plunger and to enable the automatic displacement.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application14/906,149, filed Jan. 19, 2016, which is a U.S. national stage entryfrom International Patent Application Ser. No. PCT/IL2014/050654, filedJul. 17, 2014 which in turn claims priority to Provisional ApplicationSer. No. 61,847148/000000, filed on Jul. 17, 2013, which are allincorporated herein by reference.

BACKGROUND OF THE INVENTION

Automatically filling syringes has many known advantages in the art. Forexample, US patent application 2009/0198208 to Stravsky and Einydiscloses a dosage dispenser intended to provide a solution formeasuring and dilution of liquid medications and issuing marked andready for use. The dosage dispenser device carries out actions requiredfor the preparation of a required dose of medication, includingidentifying ampoules, breaking them, filling a syringe, diluting themedication in a solution, marking the syringe, disposing of waste anddocumenting the process, all at the patient bedside. The dosagedispenser is aimed at reducing the number of errors in the dosage, whichis a problem, menacing medical services throughout the world. Theproblem is made acute by considerable pressure on the medical teamswhile carrying out many and complex procedures under pressure in asituation of uncertainty and with variable data.

SUMMARY OF THE INVENTION

The invention discloses devices and systems for automatically fillingsyringes, and methods for utilization thereof.

In an embodiment, a device for automatically positioning a syringe in anorientation suitable for withdrawing medication from a container, thedevice comprising: a syringe conveyor configured to receive the syringein an initial orientation, and to bring the syringe to a targetorientation by being translated and rotated while holding the syringe ina steady orientation relative to the syringe conveyor, wherein thetarget orientation, which is suitable for withdrawing medication fromthe container, is one of an upward orientation and a downwardorientation, and the initial orientation is different from the targetorientation, and wherein in the upward orientation a tip of the syringeis pointing downward and in the downward orientations the tip ispointing upward; and a supporting module configured to support thesyringe conveyor while allowing a translation and a rotation thereof;wherein the supporting module and the syringe conveyor are jointlyconfigured to mechanically derive the rotation from the translation.

In an embodiment, the syringe conveyor comprises: a syringe carrierconfigured to be translated and rotated; wherein the syringe carrier andthe supporting module are jointly configured to mechanically derive therotation from the translation; and a syringe holder configured to holdthe syringe in a steady orientation relative to the syringe carrier.

In an embodiment, the device further comprises: a linear actuatorcoupled to the supporting module and to the syringe conveyor, configuredto translate the syringe conveyor relative to the supporting module.

In an embodiment, the supporting module comprises a first member, andthe syringe conveyor comprises a second member, the first and secondmembers are jointly configured to engage each other during thetranslation, thereby inducing the rotation.

In an embodiment, the first member is a rack and the second member is apinion.

In an embodiment, one of the first and second members is a protrusionand another one of the first and second members is a socket configuredto engage the protrusion.

In an embodiment, one of the first and second members is a plurality ofprotrusions, and another one of the first and second members is aplurality of sockets configured to engage the protrusions.

In an embodiment, a device for holding a barrel of a syringe and aplunger of the syringe in order to allow automatic translation of theplunger inside the barrel, the device comprising: a syringe holderconfigured to hold the syringe; a lock mechanism configured to stabilizethe barrel of the syringe relative to the syringe holder; a grippercoupled to the syringe holder and jointly configured therewith to enablethe gripper to engage the plunger by changing a relative angle betweenthe gripper and the syringe holder; wherein the gripper, the syringeholder and the lock mechanism are jointly configured to enable theautomatic displacement.

In an embodiment, the device further comprises: a gripper holderconfigured to hold the gripper; wherein the gripper holder and thesyringe holder are jointly configured to be translated in parallel, andto be rotated relative to each other, thereby changing the relativeangle; and a syringe carrier configured to support the syringe holderand the gripper holder, to allow a translation of the syringe holder andthe gripper holder with respect to the syringe carrier, and to allow arelative rotation of the syringe holder and the gripper holder withrespect to each other; wherein the syringe carrier, the syringe holder,and the gripper holder, are jointly configured to mechanically derivethe relative rotation from the translation.

In an embodiment, the device further comprises a linear actuator coupledto the syringe carrier, the syringe holder, and the gripper holder, andconfigured to drive the translation.

In an embodiment, the syringe carrier comprises a first member; at leastone of the syringe holder and the gripper holder comprises a secondmember; the first and second members are jointly configured to beengaged during the translation, thereby causing a rotation of the atleast one of the syringe holder and the gripper holder.

In an embodiment, the first member is a rack, and the second member is apinion.

In an embodiment, the first member is a protrusion, and the secondmember is a socket.

In an embodiment, the second member is a protrusion, and the firstmember is a socket.

In an embodiment, a system for automatically drawing medication into asyringe, the system comprising: a first device configured to receive thesyringe in an initial orientation, and to automatically position thesyringe in a target orientation suitable for drawing medication from thecontainer by utilizing a first translation and by further utilizing afirst rotation mechanically derived from the first translation, whereinthe target orientation is one of an upward orientation and a downwardorientation, and the initial orientation is different from the targetorientation; in the upward orientation a tip of the syringe is pointingdownward and in the downward orientations the tip of the syringe ispointing upward; a second device configured to allow an automaticdisplacement of a plunger of the syringe inside a barrel of the syringeby holding the barrel, holding the plunger, and translating the plungerrelative to the barrel; and a third device configured to enable a needlecoupled to the syringe, whereupon the syringe is held in the targetorientation, to reach the medication in the container by reducing adistance between the container and the syringe.

In an embodiment, the first device comprises: a syringe conveyorconfigured to receive the syringe in the initial orientation, and tobring the syringe to the target orientation by being translated androtated while holding the syringe in a steady orientation relative tothe syringe conveyor; and a supporting module configured to support thesyringe conveyor while allowing a translation and a rotation thereof;wherein the first supporting module and the syringe conveyor are jointlyconfigured to mechanically derive the rotation from the translation.

In an embodiment, the syringe conveyor comprises: a syringe carrierconfigured to be translated and rotated; wherein the syringe carrier andthe supporting module are jointly configured to mechanically derive therotation from the translation; and a syringe holder configured to holdthe syringe in a steady position relative to the syringe carrier.

In an embodiment, the first device comprises: a syringe carrierconfigured to be translated and rotated; and a syringe holder configuredto hold the syringe in a fixed position relative to the syringe carrier.

In an embodiment, the second device comprises: a lock mechanismconfigured to stabilize the barrel of the syringe relative to thesyringe holder; and a gripper coupled to the syringe holder and jointlyconfigured therewith to enable the gripper to engage the plunger bychanging a relative angle between the gripper and the syringe holder;wherein the gripper, the syringe holder, and the lock mechanism arejointly configured to enable the automatic displacement.

In an embodiment, the second device further comprises: a gripper holderconfigured to hold the gripper; wherein the gripper holder and thesyringe holder are jointly configured to be translated in parallel, andto be rotated relative to each other, thereby changing the relativeangle; and a syringe carrier configured to support the syringe holderand the gripper holder, to allow a translation of the syringe holder andthe gripper holder with respect to the syringe carrier, and to allow arelative rotation of the syringe holder and the gripper holder withrespect to each other; wherein the syringe carrier, the syringe holder,and the gripper holder, are jointly configured to mechanically derivethe relative rotation from the translation.

In an embodiment, a system for automatically drawing medication into asyringe, the system comprising: a first device configured to receive thesyringe in an initial orientation, and to automatically position thesyringe in a target orientation suitable for drawing medication from thecontainer, wherein the target orientation is one of an upwardorientation and a downward orientation, and the initial orientation isdifferent from the target orientation, and wherein in the upwardorientation a tip of the syringe is pointing downward and in thedownward orientations the tip is pointing upward; a second deviceconfigured to allow an automatic displacement of a plunger of thesyringe inside a barrel thereof by holding the barrel, holding theplunger, and translating the plunger relative-to the barrel; and a thirddevice configured to enable a needle coupled to the syringe to reach themedication by reducing a distance between the container and the syringe,while the syringe is held in the target orientation; wherein horizontaldimensions of the system allow placing the system within a rectangularcuboid whose maximal width is 15 centimeters.

In an embodiment, the horizontal dimensions of the system allow placingthe system within a rectangular cuboid whose maximal width is 10centimeters.

In an embodiment, the horizontal dimensions of the system allow placingthe system within a rectangular cuboid whose maximal length is 50centimeters.

In an embodiment, the horizontal dimensions of the system allow placingthe system within a rectangular cuboid whose maximal floor area is 1000square centimeters.

In an embodiment, a method for automatically drawing medication into asyringe, the method comprising: receiving the syringe in an a firstorientation; utilizing a translation and a rotation for automaticallypositioning the syringe in a second orientation suitable for drawingmedication from the container, wherein in one of the first and secondorientations a tip of the syringe is pointing downward and in other oneof the first and second orientations a tip of the syringe is pointingupward; and wherein the first rotation is mechanically derived from thefirst translation; automatically reducing a distance between thecontainer and the syringe, while the syringe is held in the secondorientation, thereby enabling a needle coupled to the syringe to reachthe medication; automatically holding a barrel of the syringe; andautomatically translating the plunger inside the barrel, thereby drawingmedication into a syringe.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to understand the invention and to see how it may be carriedout in practice, embodiments will now be described, by way ofnon-limiting example only, with reference to the accompanying drawings,in which:

FIG. 1 illustrates a known in the art syringe;

FIGS. 2A-2E symbolically illustrate snapshots of a syringe subject toautomatic filling with a medication that is withdrawn from a container,while in a downward orientation, in accordance with some embodiments ofthe invention;

FIGS. 3A-3E symbolically illustrate snapshots of a syringe subject toautomatic filling with a medication that is withdrawn from a container,while in a upward orientation, in accordance with some embodiments ofthe invention;

FIGS. 4A-4E schematically illustrate a device for automaticallypositioning a syringe in a downward orientation suitable for drawingmedication from a container, according to some embodiments of theinvention;

FIGS. 5A-5F schematically illustrate a supporting module and a syringecarrier comprising a rack and a pinion, according to some embodiments ofthe invention;

FIGS. 6A-6F schematically illustrate a supporting module comprisingprotrusions and a syringe carrier comprising sockets, according to someembodiments of the invention;

FIGS. 7A-7E schematically illustrate a device for automaticallypositioning a syringe relative to a container in an upward orientationsuitable for drawing medication from the container, according to someembodiments of the invention;

FIGS. 8A-8D schematically illustrate a device for holding a barrel of asyringe and a plunger of the syringe, in order to allow automaticdisplacement of the plunger inside the barrel, according to someembodiments of the invention; and

FIG. 9 schematically illustrates a system for automatically drawingmedication from a container into a syringe, according to someembodiments of the invention.

DETAILED DESCRIPTION OF THE INVENTION

Before explaining some embodiments of the present invention, it shouldbe appreciated that although various embodiments of the presentinvention are described herein, these embodiments are only given for thepurpose of explaining the present invention, and the present inventionshould not be considered as being limited to and/or by theseembodiments, while it should be appreciated that it would be possible toimplement the present invention in various other ways.

In the following description, components that are common to more thanone figure will be referenced by the same reference numerals.

In addition, unless specifically noted, embodiments described orreferenced in the present description can be additional and/oralternative to any other embodiment described or referenced therein.

FIG. 1 illustrates a syringe 100, as is known in the art. A syringegenerally comprises a barrel 102 configured to contain medication, and aplunger 104 configured to be translated within the barrel, therebydrawing medication into the barrel and/or withdrawing medication fromthe barrel. The plunger 104 may comprise a top 106, which may beutilized for translating the barrel by pulling and/or pushing the top. Asyringe may further comprise a tip 108 configured for attaching a needle110 thereto. The needle may be a hypodermic needle, or any otherelongated hollow article configured to be attached to the tip of thesyringe, and to enable drawing medication therethrough into the barrel,e.g., from a container, and/or to enable injecting medication from thebarrel, e.g., into a body or a container, etc. A syringe may alsocomprise a flange 112 coupled to the barrel, in order to enable holdingthe barrel firmly while translating the plunger relative to the barrel.It is noted though that syringe 100 has been brought as a generalexample only, while the invention is by no way limited to likewisesyringes. Syringes applicable to the case may include other forms ofsyringes, other sizes and proportions of syringes, various materialsfrom which a syringe is made of, etc.

Syringes are often used in medicine to administer injections, insertintravenous drugs into the bloodstream, etc. It should be appreciatedthat in some cases, it may be preferable to automatically drawmedications into a syringe, instead of manually doing the same. Forexample, sometimes it is preferable to avoid contact with a medicationdue to hazards concerned with the medication. One non-limiting case inwhich preference of automatic drawing of a hazardous medication isdemonstrated is preparation of a so-called “dose complex”: a radioactivematerial to be injected into a body of a patient, e.g., during nuclearmedicine diagnosis such as nuclear mapping. The dose complex istypically prepared in a central radiotherapy pharmacy or in variousnuclear medicine centers (herein the term “radiotherapy pharmacy” isused to describe a central radiotherapy pharmacy, a nuclear medicinecenter, or any other laboratory that may prepare and manipulate dosecomplexes). Throughout the preparation of a dose complex, and duringtransport thereof to the clinical center where the dose complex shouldbe injected to a patient, appropriate shielding is demanded, such as toavoid directly radiating individuals. Hence, further to preparing thedose complex it is typically drawn into syringes that are then placed inradiation protecting containers, such as a so-called shielded “pig”,which is made of tungsten to shield radiation. The radiation protectingcontainers are typically used for transport of the prepared syringe tothe clinical center, where the syringe is taken out of the container andthe complex is injected to a patient directly from the syringe. However,today, the dispensing of the dose complex into syringes is manuallyadministered, in hoods protecting the preparing technician fromradiation. It should be appreciated, therefore, that automaticallydrawing radioactive medications into syringes and injecting radioactivemedications from syringes, e.g., in such a radiotherapy pharmacy, isadvantageous over manual handling.

However, the invention is not limited to radiotherapy pharmacies.Embodiments thereof may be applied also in case of other hazardsconcerned with medications, e.g., when a medication comprises apoisonous substance. Moreover, it may be desired to use embodiments ofthe invention due to other consideration additional or alternative tohazards. For example, in a clinic where the medical staff administersmedications, amongst many should be injected, it should be appreciatedthat an automatic filling of syringes may be more accurate and thereforesafe, and hence embodiments of the invention may be utilized therefor.

Some aspects of the present invention relate to devices and systems, forautomatically drawing medications into syringes while the medicationsare withdrawn from containers, and for injecting medications fromsyringes, into containers or as waste. Some aspects relate also tomethods for utilizing such devices and systems. The medication, whichmay be any substance utilized for treating human beings and/or animals,or possibly any other substance suitable for being drawn into a syringe,is contained in a container, for example a vial, an ampule, or any othersuitable container. Some containers, such as open ampules, areconfigured for withdrawing the medication therefrom while the syringe ispositioned in an “upward” position, when the top of the plunger ispointing upward, and the tip of the syringe is pointing downward. In theupward position, if there is a needle attached to the syringe, theneedle is pointing downward, and the distal end of the needle can beinserted into the container (e.g. the ampule) through an openingthereof, thereby reaching the medication residing within the container.Other containers, for example vials, are configured for drawing themedication therefrom while the syringe is positioned in an “downward”position, when the top of the plunger is pointing downward, and the tipof the syringe is pointing upward. In the downward position, the needleis pointing upward, and its distal end can be inserted into thecontainer (e.g. the vial) through a penetrable member thereof (e.g., aseptum), thereby reaching the medication residing within the container.It is appreciated that “upward” and “downward” may be interpretedbroadly as being inclined above or below the horizontal, respectively.Moreover, it is noted that the terms “upward” and “downward” as definedherein with reference to a syringe are non-limiting. In other casesalternative, opposite terms may be used, whereupon “upward” means thatthe plunger's top points down while the tip points up, and “downward”means that the top points up while the tip points down.

FIGS. 2A-2E symbolically illustrate snapshots of a syringe subject toautomatic filling with a medication that is withdrawn from a container,while in a downward orientation, in accordance with some embodiments ofthe invention. FIG. 2A introduces a symbolic syringe, which issymbolically represented as an arrow 202. Accordingly, instead ofreferring to “arrow 202”, hereinafter the arrow may be referred to as a“syringe 202”. The arrow's sharp tip represents the distal end of aneedle 208, and accordingly, instead of referring to “tip 208”,hereinafter the tip may be referred to as a “needle 208”. Similarly, therectangle represents a barrel 214 and the T shaped rod represents aplunger 212 with a top 218. Syringe 202 may be an example of the syringe100 in FIG. 1, or any other suitable syringe.

FIG. 2B symbolically illustrates snapshots of the syringe starting froman initial orientation 220, in which syringe 202 is received. In theillustrated example the initial orientation 220 of syringe 202 is anupward orientation. However, the initial orientation may be anyorientation different from a downward orientation suitable forwithdrawing medication from the vial, and it is by no way limited to theorientation illustrated in the figure. Then, the syringe is beingtranslated and rotated, as represented by 222, 224 and 226, until itreaches its target orientation 228, whereupon it is positioned in adownward orientation beneath a container 204. Container 204 may be avial comprising a septum 206, or any other container suitable for thecase.

In FIG. 2C the syringe 228, residing beneath container 204, is advancedtoward the container, thereby reducing the distance between the syringeand the container, until a distal end of needle 208 penetrates thecontainer, and reaches a medication 210 residing therein. Additionallyor alternatively to advancing the syringe toward the container, itshould be appreciated that the distance between them can be reduced byadvancing the container toward the syringe.

After the needle reaches the medication, plunger 212 of the syringe isbeing pulled out of the syringe barrel 214, thereby withdrawingmedication from the container into the barrel, as illustrated in FIG.2D. It is noted that although the downward orientation of the syringe isillustrated in FIGS. 2B to 2D as being strictly vertical, an inclineddownward orientation, as illustrated in FIG. 2E, may be applicable forthe case as well.

FIGS. 3A-3E symbolically illustrate snapshots of a syringe, subject toautomatic filling with a medication that is withdrawn from a containerwhile in an upward orientation, in accordance with some embodiments ofthe invention. A syringe 302 symbolically represented by an arrow, ashas been done with reference to syringe 202 of FIGS. 2A-2E.

FIG. 3A introduces arrow 302 which represents syringe 302, whichcomprises a barrel 314, a plunger 312, a top 318 of plunger 312, and aneedle 308. Syringe 302 may be an example of the syringe 100 in FIG. 1,or any other suitable syringe.

FIG. 3B symbolically illustrates snapshots of the syringe starting froman initial orientation 320, in which syringe 302 is received. In theillustrated example the initial orientation 320 of syringe 302 is adownward orientation. However, the initial orientation may be anyorientation different from an upward orientation suitable forwithdrawing medication from the vial in this example, and it is by noway limited to the orientation illustrated in the figure. Then, thesyringe is being translated and rotated, as represented by 322, 324 and326, until it reaches its target orientation 328, whereupon it ispositioned in an upward orientation above a container 304. Container 304may be an open ampule, or any other container suitable for withdrawal ofmedication from the container by a syringe in an upward orientation.

IN FIG. 3C syringe 302, residing above container 204 as illustrated in328 of FIG. 3B, is advanced toward the container, thereby reducing thedistance between the syringe and the container, until a distal end ofneedle 308 enters the container, and reaches a medication 310 residingtherein. Additionally or alternatively to advancing the syringe towardthe container, it should be appreciated that the distance between themcan be reduced by advancing the container toward the syringe.

After the needle reaches the medication, plunger 312 of the syringe isbeing pulled out of the syringe barrel 314, thereby withdrawingmedication from the container into the barrel, as illustrated in FIG.3D. It is noted that although the upward orientation of the syringe isillustrated in FIGS. 2B to 2D as being strictly vertical, an inclinedupward orientation, as illustrated in FIG. 3E, may be applicable for thecase as well.

It should be appreciated that syringes 202 and 302 of FIGS. 2A-2E and3A-3E are translated from their initial positions (220 and 320) to theirtarget positions (228 and 328) beneath or above the containers,respectively. Furthermore, syringes 202 and 302 are rotated as well,syringe 202 from an upward orientation to a downward orientation andsyringe 302 from a downward orientation to an upward orientation.

Further to introducing the translation and rotation operations involvedin an automatic filling of syringes with reference to FIGS. 2A-2E and3A-3E, embodiments of devices that perform such operations are disclosedbelow.

FIGS. 4A-4E, and FIGS. 7A-7E, schematically illustrate devices forautomatically positioning a syringe relative to a container of amedication in an orientation suitable for withdrawing the medicationfrom the container, according to certain embodiments of the invention.FIGS. 4A-4E, wherein the syringe is positioned in a downwardorientation, are discussed in the following paragraphs, and FIGS. 7A-7E,wherein the syringe is positioned in a downward orientation, arediscussed further below.

FIGS. 4A-4E schematically illustrate a device 400 for automaticallypositioning a syringe 402 in a downward orientation suitable for drawingmedication from a container 400, according to certain embodiments of theinvention. The syringe 402 may be, for example, a syringe similar tosyringe 100 in FIG. 1 or any other syringe suitable for the case.Container 404 may be, e.g., a container similar to container 204 in FIG.2, or any other container suitable for the case, such as a vial etc.

Device 400 further comprises a syringe conveyor 406, which is configuredto receive the syringe in the initial orientation and to hold thesyringe in a steady orientation relative to the syringe conveyor, i.e.,wherein the orientation of syringe changes together with the orientationof the syringe conveyor.

The syringe conveyor is further configured to be translated and rotatedwhile holding the syringe, thereby bringing the syringe to a downwardorientation beneath the container. The translation and rotation of thesyringe conveyor are schematically illustrated in FIGS. 4A-4E, whereinFIG. 4A schematically illustrates the initial orientation, FIG. 4Bdepicts the syringe conveyor further to a translation thereof, whereinthe translated distance is marked by 416, FIGS. 4C and 4D depict twosnapshots along the rotation of the syringe conveyor and FIG. 4Eschematically illustrates the syringe conveyor with a syringe in adownward orientation beneath the container.

Device 400 further comprises a supporting module 408, which isconfigured to support the syringe conveyor 406, while allowing thesyringe conveyor to be translated and rotated. Furthermore, thesupporting module is jointly configured with the syringe conveyor sothat the rotation of the syringe conveyor is mechanically derived fromthe translation of the syringe conveyor. Therefore, in some embodiments,both the translation and the rotation of the syringe conveyor may beaccomplished with a single actuator.

In some embodiments, syringe conveyor 406 may comprise a syringe carrier410 and a syringe holder 412. The syringe carrier is configured tosupport the syringe holder, and the syringe holder is configured to holdthe syringe in a steady position relative to the syringe carrier, Itwill be later described, with reference to FIGS. 8A-8D, that holding thesyringe in the steady orientation allows a gripper to hold the plungerof the syringe. The syringe carrier is configured to be supported by thesupporting module, and is configured to be translated and to be rotatedrelative to the supporting module, thereby translating and rotating thesyringe. Furthermore, the syringe carrier is jointly configured with thesupporting module to derive the rotation of the syringe carrier from thetranslation thereof.

In some embodiments, device 400 may comprise a linear actuator 414coupled to the supporting module and to the syringe conveyor, andconfigured to translate the syringe conveyor relative to the supportingmodule, thereby resulting in the translation of the syringe conveyor,e.g. the translation illustrated in FIGS. 4A-4E, which is represented bya translated distance 418 in FIG. 4E. In some embodiments, the linearactuator, which is coupled to the syringe carrier, translates thesyringe conveyor by translating the syringe carrier. It is noted thatthe rotation of the syringe conveyor is mechanically derive from thetranslation of the syringe conveyor, as will be clarified below, withreference to FIGS. 5A-5F and 6A-6F, Accordingly, both the translationand the rotation may be accomplished by the same linear actuator 414.

Further to understanding what are translation and rotation and how theyare utilized in bringing a syringe to its target position andorientation, attention is drawn now to explaining mechanisms enablingtranslation and rotation according to certain embodiments of theinvention.

In some embodiments, the rotation is mechanically derived from thetranslation as follows: The supporting module and the syringe conveyorcomprise a first member and a second member, respectively. In someembodiments, the second member is comprised in the syringe carrier. Thefirst member and the second member are configured to engage each otherduring the translation of the syringe conveyor relative to thesupporting module, and to cause the syringe conveyor to rotate relativeto the supporting module while the first and second members are engaged.In some embodiments, the first and second members may be a rack and apinion, respectively, as known in the art. In some embodiment, the firstmember may be a protrusion or a plurality of protrusions, and the secondmember may be a socket or a plurality of sockets, wherein the socket orthe plurality of sockets is configured to engage the protrusion or theplurality of protrusions. A protrusion may be a pin, or a wheel, or anyother article suitable for being engaged by a socket, and a socket maybe an opening, a cavity, a trail, or any other structure suitable forengaging a protrusion.

FIGS. 5A to 5E schematically illustrate a supporting module 502 and asyringe carrier 504 comprising a rack 506 and a pinion 508,respectively, according to certain embodiments of the invention. Thesupporting module 502 and the carrier 504 may be examples of thesupporting module 408 and the syringe carrier 410 in FIGS. 4A to 4E. Thesupporting module 502 supports the syringe carrier 504 by pivot 510,located at the center of the pinion. During the translation of thesyringe carrier relative to the supporting module, the teeth of thepinion 508 engage the teeth of the race 506, thereby causing the syringecarrier to rotate around the pivot 510. FIG. 5A schematicallyillustrates the initial position of syringe carrier 504; FIG. 5B depictsthe syringe carrier further to a translation thereof, wherein the pinionstarts to engage the pinion; FIGS. 5C and 5D depict two snapshots alongthe rotation of the syringe carrier, which is caused by the interactionbetween rack and the pinion; and FIG. 5E schematically illustrates thetarget position of the syringe carrier.

FIGS. 6A to 6F schematically illustrate a supporting module 602comprising protrusions 604 a and 604 b and a syringe carrier 606comprising sockets 608 a and 608 b, according to certain embodiments ofthe invention. The supporting module 602 and the syringe carrier 606 maybe examples of the supporting module 408 and the syringe carrier 410 inFIGS. 4A to 4E. The syringe carrier further comprises a central pivot610 and two guiding pivots 612 a and 612 b. The supporting modulefurther comprises a rail 614, which supports the central pivot, and aguiding trail 616, which limits the movement of the guiding pivots. Therail and the central pivot jointly enable horizontal translation androtation of the syringe carrier relative to the supporting module.During the translation of the syringe carrier relative to the supportingmodule, sockets 608 a and 608 b engage the protrusions 506 a and 506 b,respectively, thereby causing the syringe carrier to rotate around pivot510. The guiding trail and the guiding pivots jointly limit the rotationof the syringe carrier, thereby preventing undesired rotation (e.g.,when the protrusions are not engaged by the sockets. FIG. 6Aschematically illustrates the position of the syringe carrier further toa translation thereof, wherein protrusions 604 a starts to engage socket608 a. FIGS. 6B to 6E depict snapshots along the rotation of the syringecarrier, which is caused by the interaction between the protrusions andthe sockets; and FIG. 6F schematically illustrates the target positionof the syringe carrier.

Further to understanding the structure and way of operation of devicesfor automatically positioning a syringe relative to a container in adownward orientation, it is appreciated that devices for automaticallypositioning a syringe relative to a container in an upward orientationmay be implemented, utilizing similar structure and way of operation.

FIGS. 7A-7E schematically illustrate a device 700 for automaticallypositioning a syringe 702 relative to a container 704 in an upwardorientation suitable for drawing medication from the container,according to certain embodiments of the invention. The syringe 702 maybe an example of syringe 100 in FIG. 1, or any other syringe suitablefor the case. Container 704 may be an example of container 304 in FIG.3. It may be an open ampoule, or any other container suitable for thecase, requiring an upward syringe to withdraw a medication therefrom.Device 700 may resemble device 400 in FIG. 4, with appropriatemodification due to the difference of the target orientation.

Device 700 comprises a syringe conveyor 706, which is configured toreceive the syringe in an initial orientation, which is different fromthe upward orientation, and to hold the syringe in a steady orientationrelative to the syringe conveyor, i.e., wherein the orientation ofsyringe changes together with the orientation of the syringe conveyor.The syringe conveyor is further configured to be translated and to berotated while holding the syringe, thereby bringing the syringe to atarget orientation, which is an upward orientation above the container.The translation and rotation of the syringe conveyor, while holding thesyringe, are schematically illustrated in FIGS. 7A-7E.

Device 700 further comprises a supporting module 708, which isconfigured to support the syringe conveyor 706, while allowing thesyringe conveyor to be translated and rotated. Furthermore, thesupporting module is jointly configured with the syringe conveyor sothat the rotation of the syringe conveyor is mechanically derived fromthe translation of the syringe conveyor.

In some embodiments, syringe conveyor 706 may comprise a syringe carrier710 and a syringe holder 712. In some embodiments, device 700 maycomprise a linear actuator 714 coupled to the supporting module and tothe syringe conveyor, and configured to translate the syringe conveyorrelative to the supporting module. In some embodiments, the linearactuator, which is coupled to the syringe carrier, translates thesyringe conveyor by translating the syringe carrier.

In some embodiments, the syringe conveyor comprise a first member and asecond member, respectively, jointly configured to engage each otherduring the translation of the syringe conveyor relative to thesupporting module, and to cause the syringe conveyor to rotate relativeto the supporting module while the first and second members are engaged.In some embodiments, the first and second members may be a rack and apinion, respectively, for example the rack and pinion illustrated inFIGS. 5A to 5E described above. In some embodiment, the first member maybe a protrusion or a plurality of protrusions, and the second member maybe a socket or a plurality of sockets, for example the protrusions andsockets illustrated in FIGS. 6A to 6F described above.

Returning to FIGS. 2A to 2D and 3A to 3D, it is noted that further topositioning the syringe in a suitable orientation relative to thecontainer, filling the syringe comprises reducing the distance betweenthe syringe and the container, until the needle reaches the medicationresiding therein, and pulling the plunger out of the barrel 214, therebywithdrawing medication from the container into the barrel. In thefollowing paragraphs, devices for pulling the plunger are depicted.

FIGS. 8A to 8D schematically illustrate a device 800 for holding abarrel 802 of a syringe 804 and a plunger 806 of the syringe, in orderto allow automatic displacement of the plunger inside the barrel,according to certain embodiments of the invention. Syringe 804 may be anexample of syringe 100 in FIG. 1, or any other syringe suitable for thecase.

Device 800 comprises a syringe holder 808 configured to hold thesyringe, gripper 810 configured to engage the plunger, thereby enablingautomatic displacement (pulling) of the plunger out of the barrel. Insome embodiments, the gripper is configured to engage and pull a top 812of the syringe. Device 800 further comprises a lock mechanism configuredto maintain the barrel of the syringe in a steady position relative tothe syringe holder, thereby enabling the automatic pulling of theplunger relative to the barrel. In some embodiments, the lock mechanismmay be comprised by or coupled to the syringe holder. In otherembodiments, the lock mechanism may be comprised in a gripper holder, asexplained further below. Additionally or alternatively, any other lockmechanism suitable for the case may be utilized.

The gripper is configured to engage the plunger as follows: the gripperand the syringe holder are coupled to each other, and are jointlyconfigured to change their relative angle with respect to each other,thereby enabling the gripper to engage the plunger. In FIGS. 8A and 8B,for example, the “lower” ends of the syringe holder and the gripper arecoupled by a pivot 816, while their “upper” ends are able to move withrespect to each other. In FIG. 8A, the “upper” ends are relativelydistant from each other, thereby allowing placing a syringe into theholder or removing it therefrom. In FIG. 8B, the “upper” ends of thegripper and the syringe holder are close to each other, thereby enablingthe gripper to engage the top 812 of the syringe.

In some embodiments, device 800 further comprises a gripper holder 818configured to hold the gripper. The gripper holder and the syringeholder are coupled to each other, and are jointly configured to changetheir relative angle with respect to each other, thereby enabling thegripper to engage the plunger. In some embodiments, the gripper holderand the syringe holder are jointly configured to be translated inparallel to each other, and to be rotated relative to each other,thereby changing the relative angle.

In some embodiments, the lock mechanism comprises a locking flange 824coupled to the gripper holder. When the “upper” ends of the gripper andthe syringe holder are close to each other, as illustrated in FIG. 8B,the locking flange 824 engage the syringe flange 826 of the syringe,thereby keeping the barrel of the syringe within the syringe holder.

In some embodiments, device 800 may further comprise a syringe carrier820 configured to support the syringe holder and the gripper holder. Thesyringe carrier 820 may be an example of the syringe carrier 410 inFIGS. 4A-4E, the syringe carrier 504 in FIGS. 5A-5F, the syringe carrier606 in FIGS. 6A-6F, the syringe carrier 710 in FIGS. 7A-7E, or any othersyringe carrier suitable for the case. The syringe carrier 820 isfurther configured to allow a translation of the syringe holder and thegripper holder with respect to the syringe carrier, and to allow arelative rotation of the syringe holder and the gripper holder withrespect to each other. In some embodiments, the syringe carrier, thesyringe holder, and the gripper holder, are jointly configured tomechanically derive the relative rotation of gripper holder and thesyringe holder with respect to each other from the parallel translationof the gripper holder and the syringe holder relative to the syringecarrier.

In some embodiments, device 800 further comprises a linear actuator 822coupled to the syringe carrier, the syringe holder, and the gripperholder. The linear actuator is configured to drive the paralleltranslation of the parallel translation of the gripper holder and thesyringe holder relative to the syringe carrier. It is noted that sincethe relative rotation is mechanically derive from the paralleltranslation, both the parallel translation and the relative rotation maybe accomplished by the same linear actuator 822.

Recalling the mechanisms described with reference to FIGS. 4A to 4E, forderiving rotation from translation, it is appreciated that similarmechanisms may be utilized in embodiments of device 800. In someembodiments, the syringe carrier may comprise a first member, thegripper holder may comprise a second member, wherein the first andsecond members are jointly configured to be engaged during the paralleltranslation, thereby causing a rotation of the gripper holder.Additionally or alternatively, the he syringe carrier may comprise athird member, the syringe holder may comprise a fourth member, whereinthe third and third members are jointly configured to be engaged duringthe parallel translation, thereby causing a rotation of the syringeholder. In some embodiment, the first member and/or the third member maybe a rack, and the second member and/or the fourth member may be apinion. In some embodiment, the first member and/or the third member maybe a protrusion, and the second member and/or the fourth member may be asocket, for example a trail. In some embodiment, the second memberand/or the fourth member may be a protrusion, and the first memberand/or the third member may be a socket, for example a to trail.

FIGS. 8C and 8D schematically illustrate an example of a protrusion 828,and a trail 830 configured to guide the movement of the protrusionrelative to the trail. In this example, the trail is comprised in thesyringe carrier, and the protrusion is comprised in the gripper holder.The gripper holder is translated relatively to syringe carrier, bytranslation of pivot 816. During the translation, the trail guides thegripper holder to rotate around the pivot, thereby changing its anglerelative to the syringe holder. It should be appreciated, though, thatFIGS. 8C and 8D are brought as a non-limiting example, and otherembodiments, for examples embodiments wherein the syringe holder isbeing rotated, or any other embodiment suitable for the case, may beimplemented.

Further to reading the above description of some embodiments of devicesfor carrying out operation related to automatic filling of syringes withmedications, attention it now drawn to embodiments of systems utilizingdevices jointly configured for automatic filling of syringes.

FIG. 9 schematically illustrates a system 900 for automatically drawingmedication from a container into a syringe 904, according to someembodiments of the invention. The syringe 904 may be, for example,syringe 100 in FIG. 1, or any other syringe suitable for the case. Thecontainer may be, for example, container 204 in FIG. 2, container 304 inFIG. 3, or any other container suitable for the case.

System 900 comprises a first device configured to receive the syringe inan initial orientation, and to automatically position the syringe in atarget orientation suitable for drawing medication from the container.In some cases, the target orientation is the upward orientation, asdescribed, e.g., in reference to FIG. 2. In some cases, the targetorientation is the downward orientation, as described, e.g., inreference to FIG. 3. The syringe is automatically positioned in thetarget orientation by utilizing a first translation and by furtherutilizing a first rotation, wherein the first rotation is mechanicallyderived from the first translation. Therefore, both the firsttranslation and the first rotation may be obtained by utilizing thefirst actuator 908. The first device may be, for example, the device 400of FIGS. 4A-4E, the device 700 of FIGS. 7A-7E, or any other devicesuitable for the case. Moreover, further to understanding the structureand operation of the devices 400 and 700, it should be appreciated thatfeatures and variants of devices 400 and 700 may be applicable as wellto the first device of system 900. For example, the first device maycomprise a syringe conveyor 910 and a support 912, with structure andoperation similar to the syringe conveyors and supporting modulesdescribed with reference to FIGS. 4A-4E, the device 700 of FIGS. 7A-7E.

System 900 further comprises a second device 910 configured to allow anautomatic displacement of a plunger of the syringe inside a barrel ofthe syringe by holding the barrel, holding the plunger, and translatingthe plunger relative to the barrel. The second device may be, forexample, the device 800 of FIGS. 8A-8D, or any other device suitable forthe case. Moreover, further to understanding the structure and operationof the devices 800, it should be appreciated that features and variantsof devices 800 may be applicable as well to the second device of system900. For example, in some embodiments, the second device may comprise asyringe holder 912 and a gripper 914, similar to the syringe holder andthe gripper of device 800. In some embodiments, the gripper isconfigured to engage the plunger by utilizing a relative rotation of thegripper and a syringe holder relative to each other. In some embodiment,the relative rotation is mechanically derived from a paralleltranslation thereof. Therefore, in some embodiments, the second deviceenables automatic engaging of the plunger by the gripper while utilizinga second linear actuator 916.

The system 900 further comprises a third device configured to enable aneedle coupled to the syringe, whereupon the syringe is held in thetarget orientation, to reach the medication in the container by reducinga distance between the container and the syringe. The distance may bereduced by advancing the syringe toward the container, and/or byadvancing the container toward the syringe. In some embodiments, thethird device may be jointly implemented by the syringe holder 912 andthe second linear actuator 916, which is configured to translate thesyringe holder.

Further to understanding the structure and operation of system 900, itis appreciated that, in some embodiments, the system may be implementedwith relatively small horizontal dimensions. In some embodiments, thehorizontal dimensions of the system allow placing the system within arectangular cuboid whose maximal width is 15 centimeters, a rectangularcuboid whose maximal length is 50 centimeters, and/or a rectangularcuboid whose maximal floor area is 1000 square centimeters. In someembodiments, the horizontal dimensions allow placing the system within arectangular cuboid whose maximal width is 10 centimeters.

What is claimed is:
 1. A device for holding a barrel of a syringe and aplunger of the syringe in order to allow automatic translation of theplunger inside the barrel, the device comprising: a syringe holderconfigured to hold the syringe; a lock mechanism configured to stabilizethe barrel of the syringe relative to the syringe holder; a grippercoupled to the syringe holder and jointly configured therewith to enablethe gripper to engage the plunger by changing a relative angle betweenthe gripper and the syringe holder; a gripper holder configured to holdthe gripper; wherein the gripper holder and the syringe holder arejointly configured to be translated in parallel, and to be rotatedrelative to each other, thereby changing the relative angle; and asyringe carrier configured to support the syringe holder and the gripperholder, to allow a translation of the syringe holder and the gripperholder with respect to the syringe carrier, and to allow a relativerotation of the syringe holder and the gripper holder with respect toeach other; wherein the gripper, the syringe holder and the lockmechanism are jointly configured to enable the automatic translation andwherein the syringe carrier, the syringe holder, and the gripper holder,are jointly configured to mechanically derive the relative rotation fromthe translation.
 2. The device of claim 1, further comprising a linearactuator coupled to the syringe carrier, the syringe holder, and thegripper holder, and configured to drive the translation.
 3. The deviceof claim 1, wherein the syringe carrier comprises a first member; atleast one of the syringe holder and the gripper holder comprises asecond member; the first and second members are jointly configured to beengaged during the translation, thereby causing a rotation of the atleast one of the syringe holder and the gripper holder.
 4. The device ofclaim 3, wherein the first member is a rack, and the second member is apinion. The device of claim 3, wherein the first member is a protrusion,and the second member is a socket.
 6. The device of claim 3, wherein thesecond member is a protrusion, and the first member is a socket.